Romansy 13 pp 85-92 | Cite as

Experimental Determination of Robot Workspace by Means of CATRASYS (Cassino Tracking System)

  • Marco Ceccarelli
  • Erika Ottaviano
  • Maria Toti
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


CATRASYS (Cassino Tracking System) is a new measuring system that can easily evaluate robot workspace performances. A prototype has been built at the Laboratory of Robotics and Mechatronics in Cassino. The trilateration technique has been used to evaluate position and orientation of robot end-effector. In this paper we present the system and its operation through experimental determination of robot workspace.


Automatic Continu Robot Workspace Danube Region Workspace Boundary Puma Robot 
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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Marco Ceccarelli
    • 1
  • Erika Ottaviano
    • 1
  • Maria Toti
    • 1
  1. 1.Laboratory of Robotics and Mechatronics, DiMSATUniversity of CassinoItaly

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